AUTOMATIC MOVING BODY, AUTOMATIC NAVIGATING SHIP, AND AUTOMATIC SURVEYING SHIP FOR DEPOSITED SAND OF DAM

摘要

PROBLEM TO BE SOLVED: To bring a moving body to a target point automatically by measuring the positions of GPS antennas arranged at two positions of the moving body at a specified time interval, computing the distance to the preset target point and the drift angle with respect to the present advancing direction, and moving the moving body in accordance with the distance and the drift angle. SOLUTION: At the right and left sides of a chip body 1, a GPS (L) antenna 2 and GPS (R) antenna 3 are arranged respectively with an interval 2D being provided. The positions of the antennas 2 and 3 are measured at the specified interval of about one second. Distances LL and LR to a target point P from the antennas 2 and 3 to the preset moving target point are computed. The distance L from the ship body 1 to the target point P is indicated with the specified expression. Furthermore, the drift angleθto the present advancing direction and the target point P are indicated by other specified expressions. When the coordinates of the absolute positions of the antennas 2 and 3 on the flat plane are found, the distance L to target P can be computed, and the drift angleθwith the target point P can be also computed. The advancing direction on of the ship body 1 is controlled by the distance L and the drift angleθ.